Good Feature Matching: Towards Accurate, Robust VO/VSLAM with Low Latency

Analysis of state-of-the-art visual odometry/visual simultaneous localization and mapping (VSLAM) system exposes a gap in balancing performance (accuracy and robustness) and efficiency (latency). Feature-based systems exhibit good performance, yet have higher latency due to explicit data association; direct and semidirect systems have lower latency, but are inapplicable in some target scenarios or...